visualDetection.h

/************************************************************************
  	This file is part of 4th_uavgp(visual detection part) 
    Copyright (C) 2016  Zhixing Hou <zxhou2016@gmail.com>
    (Intelligent Mobile Robotics Lab (iMRL),
    Nanjing University of Science and Technology, China)

    4th_uavgp is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    4th_uavgp is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
*******************************************************************************/

#pragma once

#ifndef uint8
#define uint8  unsigned char
#endif
#ifndef s16
#define s16 short
#endif
#ifndef BYTE
#define BYTE unsigned char
#endif

#pragma pack(push)
#pragma pack(1)

typedef struct tagDigit_POINT
{
	uint8 DisplayWndOrPaintWnd;  //1->dispaly window  0->painting window
	uint8 ImgStatue; // 0-100 CONFIDENCE             ??????¡À?¡Á???  0????????¡À?????  1??¡À????? 2 ??¡À?????????
	uint8 DigitName; // ??¡Á???  0,1,2,3,4,5,6,7,8,9
	s16 xPiont_mm;   // w.r.p   center  // ??¡Á???????????x¡Á?¡À¨º?? ????mm  ??????
	s16 yPiont_mm;   // ??¡Á???????????y¡Á?¡À¨º?? ????mm
}Digit_POINT;

typedef struct tagDigit_INFO
{
	uint8 Head;    //   24
	uint8 FrameID; //??ID????¡¤????????¨¢????
	uint8 Key;     //?????¨¹¡Á? ?????¡§??????   	1
	uint8 Spray_Statue; //??????????¡À?¡Á??? 0????¡À???¡À? 1????¡À?????   VERY
	uint8 SprayScale;   //?¡À?¡ã????¡À????¨®??  0-100%   
	uint8 ShotPoint_Statue; // ?¨¬???¨¦¡Á?????¡À?¡Á??? 0????¡À???¡À? 1????¡À?????  x
	s16 ShotPoint_x_mm;  // ?¨¬???¨¦¡Á??? ¡Á?¡À¨ºX  x
	s16 ShotPoint_y_mm;	 // ?¨¬???¨¦¡Á??? ¡Á?¡À¨ºY  x
	uint8 valid_Digit_N; //   
	Digit_POINT tagDigit_POINT[11]; //tagDigit_POIN[0]????¡À?????¡Á???tagDigit_POIN[1]- tagDigit_POIN[10]????????10????????11????¡Á???¡Á?¡À¨º????  11*6=66bytes
	uint8 tmp1; // ?¡è??
	uint8 tmp2; // ?¡è??
}Digit_INFO;  // ???? 78bytes

typedef struct tagUav2Img_INFO
{
	uint8 Head; //	0x24
	uint8 Key; //?????¨¹¡Á? ?????¡§?????? 	2
	uint8 DigitName; //????????????¡Á?ID??
	s16 DisImg_mm;  // ?¨¤?¨²????¡Á???????
	s16 AngleImg_mrad;	// ?¨¤?¨²???????????? ???? ?????? 
	s16 TargSprayPoint_x_mm;  // ??????????¡À?????¡À?¡Á?¡À¨ºX
	s16 TargSprayPoint_y_mm;  // ??????????¡À?????¡À?¡Á?¡À¨ºY
	uint8 Spraygun_status;   //0,3-close 1-ready 2-running 3-finish
	uint8 tmp1; // checksum
	uint8 tmp2; // 0x0d
}Uav2Img_INFO;  // 

#pragma pack(pop)

#ifdef __cplusplus
extern "C"{
#endif

	bool VisualDetection_Initialization(int width, int height);
	void VisualDetection_DoNext(unsigned char *pOrgImg, Uav2Img_INFO *input, Digit_INFO *output, unsigned char *pResImg);

#ifdef __cplusplus
}
#endif